A three-dimensional morphological vessel model (20) can be obtained by assigning diameters (14,15) along the vessel derived from a two-dimensional morphological projection (10) at locations in the three-dimensional model defined by the temporal locations (21,22) of a trackable instrument (5). An apparatus (7), a system (1) and a method (100) for use of the system (1) in characterizing the vessel of a living being (2) by rendering a three-5 dimensional morphological vessel model (20) are presented.
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1. An apparatus for characterizing a vessel of a living being, the apparatus comprising: a processor, wherein the apparatus is configured to be coupled to: a tracking unit for continuously measuring location information of a trackable instrument in a vessel lumen of the vessel over time as the trackable instrument moves from a first location within the vessel lumen at a first time to a second location within the vessel lumen at a second time; and an imaging unit for generating a projection image of the vessel; wherein the processor is configured to: responsive to the trackable instrument being positioned at the first location at the first time: identify, within the projection image, first outer borders of the vessel lumen at the first location; and determine, based on the projection image, a first distance between the first outer borders; responsive to the trackable instrument being positioned at the second location at the second time: identify, within the projection image, second outer borders of the vessel lumen at the second location; and determine, based on the projection image, a second distance between the second outer borders; successively generate a different portion of a three-dimensional morphological model of the vessel as the trackable instrument moves through a respective segment of the vessel lumen positioned between the first location and the second location such that the different portions of the three-dimensional morphological model correspond to the respective segments of the vessel lumen extending from the first location to the second location, wherein a first diameter of a first portion of the three-dimensional morphological model corresponding to the first location comprises the first distance and a second diameter of a second portion of the three-dimensional morphological model corresponding to the second location comprises the second distance; and output, to a display in communication with the processor, a graphical representation of the three-dimensional morphological model of the vessel.
Medical imaging and diagnostics. This invention addresses the need for detailed characterization of blood vessels. The apparatus comprises a processor, a tracking unit, and an imaging unit. The tracking unit continuously measures the position of a trackable instrument within a vessel lumen over time. The imaging unit generates projection images of the vessel. The processor uses this information to identify outer borders of the vessel lumen at different locations where the instrument is positioned. It determines the distance between these borders, representing the vessel diameter at those points. As the instrument moves through the vessel, the processor successively generates portions of a three-dimensional morphological model of the vessel. Each portion of the model corresponds to a segment of the vessel lumen and its diameter is based on the measured distances between the vessel borders at that location. The apparatus then outputs a graphical representation of this three-dimensional model to a display.
2. The apparatus according to claim 1 , wherein the projection image of the vessel is derived from angiography.
This invention relates to medical imaging systems for visualizing blood vessels, particularly in the context of angiography. The apparatus includes a display system that projects an image of a vessel onto a patient's body, aligning the projected image with the actual vessel to assist in medical procedures. The projected image is derived from angiography, a technique that uses contrast agents and imaging to visualize blood vessels. The apparatus ensures accurate alignment by dynamically adjusting the projection based on real-time imaging data, improving precision in procedures such as catheter insertion or surgical navigation. The system may also incorporate tracking mechanisms to account for patient movement, ensuring the projected image remains accurately overlaid on the vessel. This technology addresses the challenge of visually guiding medical interventions by providing a real-time, spatially accurate representation of the vessel, reducing errors and enhancing procedural safety. The apparatus may further include calibration features to ensure the projection system is properly aligned with the patient's anatomy, improving reliability in clinical settings.
3. The apparatus according to claim 1 , wherein the first location of the trackable instrument at the first time and the second location of the trackable instrument at the second time are derived from electromagnetic signals.
This invention relates to a medical tracking system that determines the position of a trackable instrument within a patient's body using electromagnetic signals. The system addresses the challenge of accurately tracking surgical tools in real-time during minimally invasive procedures, where visibility is limited and precise navigation is critical. The apparatus includes a tracking system that detects electromagnetic signals emitted or reflected by the trackable instrument. The system calculates the instrument's position at two distinct times—first at an initial time and later at a subsequent time—to monitor its movement. By analyzing the electromagnetic signals, the system determines the instrument's location in three-dimensional space at each time point. This positional data is then used to guide the instrument during procedures, ensuring accurate placement and reducing the risk of complications. The electromagnetic tracking method provides high precision and reliability, overcoming limitations of optical or mechanical tracking systems that may be obstructed or less accurate in soft tissue environments. The system can be integrated with imaging modalities such as MRI or CT scans to enhance navigation. This technology is particularly useful in neurosurgery, orthopedic surgery, and other fields requiring precise instrument positioning.
4. The apparatus according to claim 1 , wherein the first location of the trackable instrument at the first time and the second location of the trackable instrument at the second time originate at same phase of a cyclical cardiac or breathing motion of the living being.
This invention relates to medical imaging and tracking systems, specifically for tracking instruments within a living being during cyclical physiological motions such as cardiac or respiratory cycles. The problem addressed is the inaccuracies in tracking instruments due to motion artifacts caused by these cyclical movements, which can lead to misalignment in medical procedures. The apparatus includes a tracking system that determines the position of a trackable instrument at two different times. The key improvement is that the first and second positions of the instrument are captured at the same phase of the cyclical motion, such as the same point in the cardiac or breathing cycle. This ensures that the positions are comparable and reduces errors caused by motion. The tracking system may use sensors or imaging devices to detect the instrument's location and synchronize these detections with the physiological cycle. The apparatus may also include a display or processing unit to analyze the tracked positions and provide feedback to the user. This synchronization helps improve the accuracy of medical interventions, such as biopsies or surgeries, by accounting for physiological motion.
5. The apparatus according to claim 1 , further comprising: the trackable instrument for introduction into the vessel of the living being; the tracking unit for continuously measuring the location information of the trackable instrument in the vessel; and the imaging unit for generating the projection image of the vessel.
This invention relates to a medical apparatus for tracking and imaging a trackable instrument within a vessel of a living being. The apparatus addresses the challenge of accurately monitoring the position of a medical instrument, such as a catheter or guidewire, during minimally invasive procedures while providing real-time imaging of the vessel. The apparatus includes a trackable instrument designed for insertion into the vessel. A tracking unit continuously measures the location information of the instrument within the vessel, providing real-time positional data. An imaging unit generates a projection image of the vessel, allowing visualization of the instrument's position relative to the vessel anatomy. The tracking unit may use electromagnetic, optical, or other sensing technologies to determine the instrument's location, while the imaging unit may employ X-ray, ultrasound, or other imaging modalities to produce the projection image. The apparatus ensures precise navigation of the instrument within the vessel, reducing the risk of misplacement or injury. The continuous tracking and imaging capabilities enhance procedural accuracy and safety, particularly in complex vascular interventions. The system may be used in diagnostic or therapeutic procedures, such as angiography, stent placement, or tumor ablation, where accurate instrument positioning is critical. The integration of tracking and imaging functionalities provides a comprehensive solution for real-time guidance during intravascular interventions.
6. The apparatus according to claim 5 , wherein the trackable instrument comprises a sensor for measuring physiological information, and wherein the processor is further configured to: assign, based on the location information, at least a first physiological information measured by the sensor at the first location to the first portion of the three-dimensional morphological model of the vessel; and output, to the display, a graphical representation the first physiological information, wherein the graphical representation of the first physiological information is positioned adjacent to the first portion in the graphical representation of the three-dimensional morphological model.
This invention relates to medical imaging and physiological monitoring systems, specifically for tracking and visualizing physiological data within a three-dimensional morphological model of a vessel. The problem addressed is the need to accurately correlate physiological measurements with specific anatomical locations in a vessel, enabling precise diagnosis and treatment planning. The apparatus includes a trackable instrument equipped with a sensor for measuring physiological information, such as blood flow, pressure, or temperature. The instrument is positioned within a vessel, and its location is determined using tracking technology. A processor processes the location data and assigns the measured physiological information to a corresponding portion of a pre-generated three-dimensional morphological model of the vessel. The processor then outputs a graphical representation of the physiological data, positioning it adjacent to the relevant portion of the vessel model on a display. This allows medical professionals to visualize how physiological parameters vary across different sections of the vessel, improving diagnostic accuracy and treatment decisions. The system may also include additional features, such as real-time tracking and dynamic updates to the model as new measurements are taken.
7. The apparatus according to claim 6 , wherein the processor is further configured to: assign, based on the location information, at least a second physiological information measured by the sensor at the second location to the second portion of the three-dimensional morphological model of the vessel; and output, to the display, a graphical representation of the second physiological information, wherein the graphical representation of the second physiological information is positioned adjacent to the second portion in the graphical representation of the three-dimensional morphological model.
This invention relates to medical imaging and physiological monitoring, specifically for visualizing physiological data in relation to a three-dimensional model of a blood vessel. The problem addressed is the need to accurately map and display physiological measurements, such as blood flow or pressure, to specific regions of a vessel to aid in diagnosis and treatment planning. The apparatus includes a processor that receives location information from a sensor positioned within a vessel. The processor uses this location information to assign physiological data measured by the sensor to corresponding portions of a three-dimensional morphological model of the vessel. The model represents the vessel's structure, and the physiological data, such as blood pressure or flow rate, is spatially correlated with specific segments of the vessel. The processor generates a graphical representation of the three-dimensional vessel model and overlays or positions the physiological data adjacent to the relevant vessel segments. This allows clinicians to visualize how physiological measurements vary along the vessel's length, improving the interpretation of data and decision-making. The system may also include a display to present the combined graphical output, enabling real-time or post-procedure analysis. The invention enhances the accuracy and usability of physiological data by integrating it with anatomical models, providing a clearer understanding of vessel health and potential abnormalities.
8. The apparatus according to claim 7 , wherein the physiological information is at least one of a blood pressure, a blood flow velocity, fractional flow reserve (FFR), or a blood flow resistance.
This invention relates to medical apparatuses for measuring physiological information in blood vessels, particularly for assessing cardiovascular conditions. The apparatus includes a catheter with a pressure sensor and a flow sensor, where the pressure sensor measures blood pressure and the flow sensor measures blood flow velocity. The apparatus calculates fractional flow reserve (FFR) and blood flow resistance by analyzing the measured data. FFR is a ratio used to evaluate the severity of coronary artery stenosis, while blood flow resistance indicates the obstruction level in blood vessels. The apparatus processes the sensor data to derive these metrics, providing real-time assessment of vascular conditions. The invention aims to improve diagnostic accuracy by combining pressure and flow measurements, enabling better evaluation of blood vessel health and disease severity. The apparatus may be used in interventional cardiology procedures to guide treatment decisions, such as stent placement or angioplasty, by providing quantitative data on blood flow dynamics. The integration of multiple physiological parameters enhances the reliability of vascular assessments compared to single-metric approaches.
9. The apparatus according to claim 7 , wherein the trackable instrument comprises at least an electromagnetic sensor, the tracking unit comprises an electromagnetic field generator, and the imaging unit is a radiological imaging unit.
This invention relates to a medical apparatus for tracking surgical instruments during minimally invasive procedures. The apparatus addresses the challenge of accurately locating and visualizing instruments within a patient's body without direct line-of-sight, improving precision and safety in procedures like laparoscopy or endoscopy. The apparatus includes a trackable instrument equipped with an electromagnetic sensor, which detects its position and orientation within an electromagnetic field. A tracking unit generates this field, allowing real-time spatial tracking of the instrument. Additionally, the apparatus integrates a radiological imaging unit, such as an X-ray or fluoroscopy system, to provide visual confirmation of the instrument's location. The combination of electromagnetic tracking and radiological imaging enhances accuracy by correlating the instrument's tracked position with anatomical structures visible in the imaging data. The system may also include a display unit to present the tracked instrument's position relative to the patient's anatomy, aiding surgeons in navigation. The electromagnetic sensor on the instrument ensures precise localization, while the radiological imaging unit provides contextual anatomical reference. This dual-modal approach reduces reliance on a single tracking method, improving reliability in dynamic surgical environments. The apparatus is particularly useful in procedures where instrument visibility is limited, such as deep tissue interventions or complex anatomical regions.
10. The apparatus according to claim 1 , wherein: to identify the first outer borders of the vessel lumen and determine the first distance between the first outer borders, the processor is configured to identify the first outer borders and determine the first distance between the first outer borders for each consecutive phase of a cyclical motion indicative of a cardiac or a breathing motion of the living being; to identify the second outer borders of the vessel lumen and determine the second distance between the second outer borders, the processor is configured to identify the second outer borders and determine the second distance between the second outer borders for each consecutive phase of the cyclical motion; and to successively generate the different portion of the three-dimensional morphological model of the vessel, the processor is configured to successively generate the different portion of the three-dimensional morphological model of the vessel for each consecutive phase of the cyclical motion.
This invention relates to medical imaging and analysis, specifically for generating a three-dimensional morphological model of a vessel in a living being while accounting for cyclical motions such as cardiac or breathing movements. The problem addressed is the distortion or inaccuracies in vessel modeling caused by these motions, which can lead to unreliable diagnostic or treatment planning data. The apparatus includes a processor configured to analyze imaging data of a vessel lumen across multiple phases of a cyclical motion, such as a heartbeat or respiration cycle. For each phase, the processor identifies the outer borders of the vessel lumen and calculates the distance between these borders. This process is repeated for consecutive phases, allowing the system to track changes in the vessel's shape and dimensions over time. The processor then generates different portions of a three-dimensional morphological model of the vessel for each phase, effectively capturing the vessel's dynamic behavior during the cyclical motion. This approach ensures that the model accurately represents the vessel's morphology under varying physiological conditions, improving the reliability of medical assessments and interventions. The system may be used in applications such as vascular imaging, surgical planning, or monitoring of cardiovascular health.
11. A method for characterizing a vessel of a living being, comprising: continuously measuring location information of a trackable instrument in a vessel lumen of the vessel over time as the trackable instrument moves from a first location within the vessel lumen at a first time to a second location within the vessel lumen at a second time; generating a projection image of the vessel; responsive to the trackable instrument being positioned at the first location at the first time: identifying, within the projection image, first outer borders of the vessel lumen at the first location; and determining, based on the projection image, a first distance between the first outer borders; responsive to the trackable instrument being positioned at the second location at the second time: identifying, within the projection image, second outer borders of the vessel lumen at the second location; and determining, based on the projection image, a second distance between the second outer borders; successively generating a different portion of a three-dimensional morphological model of the vessel as the trackable instrument moves through a respective segment of the vessel lumen positioned between the first location and the second location such that the different portions of the three-dimensional morphological model correspond to the respective segments of the vessel lumen extending from the first location to the second location, wherein a first diameter of a first portion of the three-dimensional morphological model corresponding to the first location comprises the first distance and a second diameter of a second portion of the three-dimensional morphological model corresponding to the second location comprises the second distance; and outputting, to a display, a graphical representation of the three-dimensional morphological model of the vessel.
This invention relates to a method for characterizing the morphology of a vessel within a living being. The method addresses the challenge of accurately mapping the internal structure of vessels, such as blood vessels, to assess conditions like blockages, aneurysms, or other abnormalities. The technique involves tracking a movable instrument within the vessel lumen over time, capturing its position as it transitions from one location to another. A projection image of the vessel is generated, and at each tracked location, the outer borders of the vessel lumen are identified to determine the distance between them, effectively measuring the vessel's diameter at that point. As the instrument moves through the vessel, successive portions of a three-dimensional morphological model are constructed, with each segment of the model reflecting the measured diameters at corresponding locations. The final output is a graphical representation of the vessel's three-dimensional structure, enabling detailed visualization of its morphology. This approach provides a dynamic and precise method for assessing vessel health and structure.
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September 15, 2016
February 22, 2022
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